Tree Stem Diameter Estimation from Mobile Laser Scanning Using Line-Wise Intensity-Based Clustering
Diameter at breast height has been estimated from mobile laser scanning using a new set of methods. A 2D laser scanner was mounted facing forward, tilted nine degrees downwards, on a car. The trajectory was recorded using inertial navigation and visual SLAM (simultaneous localization and mapping). T...
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Online Access: | http://www.mdpi.com/1999-4907/7/9/206 |
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doaj-b9c26e6f3ffd4037a11e51786457b6b72020-11-24T22:58:18ZengMDPI AGForests1999-49072016-09-017920610.3390/f7090206f7090206Tree Stem Diameter Estimation from Mobile Laser Scanning Using Line-Wise Intensity-Based ClusteringMona Forsman0Johan Holmgren1Kenneth Olofsson2Department of Forest Resource Management, Swedish University of Agricultural Sciences, 90183 Umeå, SwedenDepartment of Forest Resource Management, Swedish University of Agricultural Sciences, 90183 Umeå, SwedenDepartment of Forest Resource Management, Swedish University of Agricultural Sciences, 90183 Umeå, SwedenDiameter at breast height has been estimated from mobile laser scanning using a new set of methods. A 2D laser scanner was mounted facing forward, tilted nine degrees downwards, on a car. The trajectory was recorded using inertial navigation and visual SLAM (simultaneous localization and mapping). The laser scanner data, the trajectory and the orientation were used to calculate a 3D point cloud. Clusters representing trees were extracted line-wise to reduce the effects of uncertainty in the positioning system. The intensity of the laser echoes was used to filter out unreliable echoes only grazing a stem. The movement was used to obtain measurements from a larger part of the stem, and multiple lines from different views were used for the circle fit. Two trigonometric methods and two circle fit methods were tested. The best results with bias 2.3% (6 mm) and root mean squared error 14% (37 mm) were acquired with the circle fit on multiple 2D projected clusters. The method was evaluated compared to field data at five test areas with approximately 300 caliper-measured trees within a 10-m working range. The results show that this method is viable for stem measurements from a moving vehicle, for example a forest harvester.http://www.mdpi.com/1999-4907/7/9/206mobile mappingforest harvestercircle fitstem diameter2D laser scanningprecision forestryclustering |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Mona Forsman Johan Holmgren Kenneth Olofsson |
spellingShingle |
Mona Forsman Johan Holmgren Kenneth Olofsson Tree Stem Diameter Estimation from Mobile Laser Scanning Using Line-Wise Intensity-Based Clustering Forests mobile mapping forest harvester circle fit stem diameter 2D laser scanning precision forestry clustering |
author_facet |
Mona Forsman Johan Holmgren Kenneth Olofsson |
author_sort |
Mona Forsman |
title |
Tree Stem Diameter Estimation from Mobile Laser Scanning Using Line-Wise Intensity-Based Clustering |
title_short |
Tree Stem Diameter Estimation from Mobile Laser Scanning Using Line-Wise Intensity-Based Clustering |
title_full |
Tree Stem Diameter Estimation from Mobile Laser Scanning Using Line-Wise Intensity-Based Clustering |
title_fullStr |
Tree Stem Diameter Estimation from Mobile Laser Scanning Using Line-Wise Intensity-Based Clustering |
title_full_unstemmed |
Tree Stem Diameter Estimation from Mobile Laser Scanning Using Line-Wise Intensity-Based Clustering |
title_sort |
tree stem diameter estimation from mobile laser scanning using line-wise intensity-based clustering |
publisher |
MDPI AG |
series |
Forests |
issn |
1999-4907 |
publishDate |
2016-09-01 |
description |
Diameter at breast height has been estimated from mobile laser scanning using a new set of methods. A 2D laser scanner was mounted facing forward, tilted nine degrees downwards, on a car. The trajectory was recorded using inertial navigation and visual SLAM (simultaneous localization and mapping). The laser scanner data, the trajectory and the orientation were used to calculate a 3D point cloud. Clusters representing trees were extracted line-wise to reduce the effects of uncertainty in the positioning system. The intensity of the laser echoes was used to filter out unreliable echoes only grazing a stem. The movement was used to obtain measurements from a larger part of the stem, and multiple lines from different views were used for the circle fit. Two trigonometric methods and two circle fit methods were tested. The best results with bias 2.3% (6 mm) and root mean squared error 14% (37 mm) were acquired with the circle fit on multiple 2D projected clusters. The method was evaluated compared to field data at five test areas with approximately 300 caliper-measured trees within a 10-m working range. The results show that this method is viable for stem measurements from a moving vehicle, for example a forest harvester. |
topic |
mobile mapping forest harvester circle fit stem diameter 2D laser scanning precision forestry clustering |
url |
http://www.mdpi.com/1999-4907/7/9/206 |
work_keys_str_mv |
AT monaforsman treestemdiameterestimationfrommobilelaserscanningusinglinewiseintensitybasedclustering AT johanholmgren treestemdiameterestimationfrommobilelaserscanningusinglinewiseintensitybasedclustering AT kennetholofsson treestemdiameterestimationfrommobilelaserscanningusinglinewiseintensitybasedclustering |
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